OMNIDIRECTIONAL ROTATION DRIVE APPARATUS

An omnidirectional rotation drive apparatus includes: a knuckle connected to a vehicle body, a main wheel drive shaft rotatably supported on the knuckle, a sub-wheel drive shaft rotatably supported on the main wheel drive shaft, a wheel body fixed to the main wheel drive shaft to rotate simultaneously with the main wheel drive shaft, sub-wheel units rotatably supported on the wheel body, and gear units connected to the sub-wheel drive shaft to transmit rotational force from the sub-wheel drive shaft to the sub-wheel units. In particular, the sub-wheel units are rotated based on an angular velocity difference between the main wheel drive shaft and the sub-wheel drive shaft.